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Warranties
 12 Months Ended
Dec. 31, 2018
Product Warranties Disclosures [Abstract]  
Warranties
Warranties
The changes in the accruals for warranties for the years ended December 31, 2018, 2017, and 2016 are as follows:
 
December 31, 2018
 
December 31, 2017
 
December 31, 2016
 
(in millions)
Beginning balance
$
10.1

 
$
12.0

 
$
18.6

Warranty costs incurred
(2.8
)
 
(4.8
)
 
(7.8
)
Warranty originations and revisions
0.1

 
4.8

 
2.9

Warranty expirations
—

 
(1.9
)
 
(1.7
)
Ending balance
$
7.4

 
$
10.1

 
$
12.0